Search found 15 matches

by sample
Wed Aug 28, 2019 8:15 am
Forum: Developer Discussions
Topic: Crazyflie control and estimation loops frequency
Replies: 0
Views: 50

Crazyflie control and estimation loops frequency

Hi everyone, I just have a quick question about the frequency of the loops running on CF, documentation is not really helpful on this topic :) . If my understanding is correct, the main loop is the stabilization loop, running on 1000Hz and coordinating between the estimator and controller. EKF estim...
by sample
Thu May 09, 2019 8:27 am
Forum: Developer Discussions
Topic: Setpoint handling in Crazyflie firmware
Replies: 7
Views: 645

Re: Setpoint handling in Crazyflie firmware

Yeah, that's what we thought.
Thank you for your help!
by sample
Wed May 08, 2019 1:06 pm
Forum: Developer Discussions
Topic: Setpoint handling in Crazyflie firmware
Replies: 7
Views: 645

Re: Setpoint handling in Crazyflie firmware

Thank you Arnaud, adding these changes to crazyswarm server solved our problem. There is just one thing.. it seems to work with PID but not with Mellinger controller. Do you know does the implementation of the Mellinger controller allow zDistance type of setpoints (roll/pitch/yawrate/z_positon)?
by sample
Fri May 03, 2019 11:08 am
Forum: Developer Discussions
Topic: Setpoint handling in Crazyflie firmware
Replies: 7
Views: 645

Re: Setpoint handling in Crazyflie firmware

We have a similar question. We are using lighthouse positioning, ROS Kinetic and CrazySwarm ROS. We would like to write a publisher that publishes zDistance type of setpoints (roll/pitch/yawrate/z_positon). How do we accomplish this? What are the necessary firmware changes? Have you got an example o...
by sample
Mon Feb 04, 2019 1:31 pm
Forum: Loco Positioning System
Topic: lps-ros swarm
Replies: 0
Views: 882

lps-ros swarm

Hi everyone, I have a question regarding lps-ros, to be more exact flying swarm using dwm_loc_ekf_swarm_hover.launch . First of all I know about new crazyswarm release and I have tested it, it works, and congratulations on such a user friendly release. But for our application lps-ros is more conveni...
by sample
Mon Nov 19, 2018 7:43 am
Forum: Developer Discussions
Topic: Publish roll/pitch/yaw references
Replies: 0
Views: 579

Publish roll/pitch/yaw references

Hi everyone, I am fairly new to ROS and C++ so be gentle :D . I want to reach roll/pitch/yaw (reference) values and publish them in the node so i can bag them over CrazyRadio. I am using LPS, Crazyradio, CF2.0 and dwm_loc_ekf_hover launch file. If I am not mistaken, crazyflie_server receives positio...
by sample
Sat Jul 07, 2018 11:56 am
Forum: Autonomous flight
Topic: CF 2.0 & LPS waypoint ROS example
Replies: 6
Views: 1130

Re: CF 2.0 & LPS waypoint ROS example

For waypoint following I recommend using the new high-level command mode with "goTo" commands, see an example here: https://github.com/whoenig/crazyflie_ros/blob/master/crazyflie_demo/scripts/test_high_level.py or here: https://github.com/USC-ACTLab/crazyswarm/blob/master/ros_ws/src/crazyswarm/scri...
by sample
Fri Jul 06, 2018 8:17 am
Forum: Autonomous flight
Topic: CF 2.0 & LPS waypoint ROS example
Replies: 6
Views: 1130

Re: CF 2.0 & LPS waypoint ROS example

I have related question. If instead of position, I want to give CF roll or pitch reference (for a few seconds, and then return it to zero), while in hover, how do I do this? As soon as CF receives the roll or pitch reference, position controller responsible for remaining CF at hover will kick in and...
by sample
Wed Jul 04, 2018 6:59 am
Forum: Autonomous flight
Topic: CF 2.0 & LPS waypoint ROS example
Replies: 6
Views: 1130

Re: CF 2.0 & LPS waypoint ROS example

whoenig wrote:
Tue Jul 03, 2018 6:35 pm
If you can point me to the "python waypoint following script", I might be able to tell you how to do it in ROS. I don't think there is an example, yet.
Hi, this is the one!
https://github.com/bitcraze/crazyflie-l ... equence.py
by sample
Tue Jul 03, 2018 9:26 am
Forum: Autonomous flight
Topic: CF 2.0 & LPS waypoint ROS example
Replies: 6
Views: 1130

CF 2.0 & LPS waypoint ROS example

Hi everyone,

I am familiar with the python waypoint following script, and it works! I was wondering is there a similar example in ROS? I want to do it through ROS because I have to record flight data through bag.
Thanks!